相关论文: Photometric single-view dense 3D reconstruction in…

This paper presents a semantic planar SLAM system that improves pose estimation and mapping using cues from an instance planar segmentation network. While the mainstream approaches are using RGB-D sensors, employing a monocular camera with…

With the rapid development of computer graphics and vision, several three-dimensional (3D) reconstruction techniques have been proposed and used to obtain the 3D representation of objects in the form of point cloud models, mesh models, and…

This paper presents an integrated approach to Visual SLAM, merging online sequential photometric calibration within a Hybrid direct-indirect visual SLAM (H-SLAM). Photometric calibration helps normalize pixel intensity values under…

3D human reconstruction and animation are long-standing topics in computer graphics and vision. However, existing methods typically rely on sophisticated dense-view capture and/or time-consuming per-subject optimization procedures. To…

This paper reports a new continuous 3D loss function for learning depth from monocular images. The dense depth prediction from a monocular image is supervised using sparse LIDAR points, which enables us to leverage available open source…

Flexible endoscopes for colonoscopy present several limitations due to their inherent complexity, resulting in patient discomfort and lack of intuitiveness for clinicians. Robotic devices together with autonomous control represent a viable…

Monocular cameras are extensively employed in indoor robotics, but their performance is limited in visual odometry, depth estimation, and related applications due to the absence of scale information.Depth estimation refers to the process of…

Estimating human motion from video is an active research area due to its many potential applications. Most state-of-the-art methods predict human shape and posture estimates for individual images and do not leverage the temporal information…

Gastric endoscopy is a standard clinical process that enables medical practitioners to diagnose various lesions inside a patient's stomach. If any lesion is found, it is very important to perceive the location of the lesion relative to the…

We propose GSO-SLAM, a real-time monocular dense SLAM system that leverages Gaussian scene representation. Unlike existing methods that couple tracking and mapping with a unified scene, incurring computational costs, or loosely integrate…

Recent progress in human shape learning, shows that neural implicit models are effective in generating 3D human surfaces from limited number of views, and even from a single RGB image. However, existing monocular approaches still struggle…

This paper presents a colonoscope tracking method utilizing a colon shape estimation method. CT colonography is used as a less-invasive colon diagnosis method. If colonic polyps or early-stage cancers are found, they are removed in a…

Complete reconstruction of surgical scenes is crucial for robot-assisted surgery (RAS). Deep depth estimation is promising but existing works struggle with depth discontinuities, resulting in noisy predictions at object boundaries and do…

This paper presents a colon deformation estimation method, which can be used to estimate colon deformations during colonoscope insertions. Colonoscope tracking or navigation system that navigates a physician to polyp positions during a…

Objective: The computation of anatomical information and laparoscope position is a fundamental block of surgical navigation in Minimally Invasive Surgery (MIS). Recovering a dense 3D structure of surgical scene using visual cues remains a…

This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…

Neural approaches have shown a significant progress on camera-based reconstruction. But they require either a fairly dense sampling of the viewing sphere, or pre-training on an existing dataset, thereby limiting their generalizability. In…

Robotic-assisted surgery allows surgeons to conduct precise surgical operations with stereo vision and flexible motor control. However, the lack of 3D spatial perception limits situational awareness during procedures and hinders mastering…

In this work, we enhance a professional end-to-end volumetric video production pipeline to achieve high-fidelity human body reconstruction using only passive cameras. While current volumetric video approaches estimate depth maps using…

We tackle the problem of monocular 3D reconstruction of articulated objects like humans and animals. We contribute DensePose 3D, a method that can learn such reconstructions in a weakly supervised fashion from 2D image annotations only.…